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This paper proposes multivariable robust control for a gait trainer for people with walking disability. The gait trainer composes of linkages and motors, which drive the linkages to produce preferred gait traces. To simplify the traditional motor control, the tracking error and motor current are feedback for control design to regulate the motor voltage. First, the transfer function matrices of the...
We present a novel approach to legged locomotion over rough terrain that is thoroughly rooted in optimization. This approach relies on a hierarchy of fast, anytime algorithms to plan a set of footholds, along with the dynamic body motions required to execute them. Components within the planning framework coordinate to exchange plans, cost-to-go estimates, and “certificates” that ensure the output...
This paper proposes a smooth cooperated walking pattern design and feedback control based on tilt senor for biped humanoid robot. In this research, the smoothness and stability problem is the key work of the motion planning. We make the robot walk stably and naturally like a human using static Zero Moment Point (ZMP) theory and the inclination feedback control. Its basic idea is as follows: firstly,...
The recent trend of humanoid robotics research has been deeply influenced by concepts such as distributed architectures, local control, force interaction and emergence of coordinated motions. A hypothesis is that feedback control from several sensors, such as force sensors and inertial devices, and more advanced control algorithms will be a key issue for the next developments. In this paper, we discuss...
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